Modeling of controlled object

Abstract

A control system includes circuitry configured to: generate, based on a command profile representing a temporal change of a command for driving a controlled object and a response profile representing a temporal change of a state of the controlled object responding to the command profile, a first model representing at least a part of a relation between the command and the state of the controlled object; generate, based on the command profile, the response profile, and the first model, a second model representing another part of the relation that is not represented by the first model; generate, based on the first model and the second model, one or more control parameters representing a relation between a control reference and the command for causing the controlled object to follow the control reference; and control the controlled object to cause the state of the controlled object to follow the control reference based at least in part on the control reference and the one or more control parameters.

What is claimed is: 
     
       1. A control system comprising circuitry configured to:
 generate, based on a command profile representing a temporal change of a command for driving a controlled object and a response profile representing a temporal change of a state of the controlled object responding to the command profile, a first model representing at least a part of a relation between the command and the state of the controlled object; 
 generate, based on the command profile, the response profile, and the first model, a second model representing another part of the relation that is not represented by the first model; 
 generate, based on the first model and the second model, one or more control parameters representing a relation between a control reference and the command for causing the controlled object to follow the control reference; and 
 control the controlled object to cause the state of the controlled object to follow the control reference based at least in part on the control reference and the one or more control parameters. 
 
     
     
       2. The control system according to  claim 1 , wherein the circuitry is configured to generate the second model based on a combination of a plurality of types of predetermined elemental models. 
     
     
       3. The control system according to  claim 2 , wherein each of the predetermined elemental models is a model representing a nonlinear relation between the command profile and the response profile. 
     
     
       4. The control system according to  claim 2 , wherein the circuitry is further configured to:
 generate a weighted sum of the predetermined elemental models as the second model; 
 generate a virtual response profile obtained by simulating, based on the command profile, the first model, and the second model, the temporal change of the state of the controlled object; and 
 modify weights of the predetermined elemental models in the second model to reduce a difference between the virtual response profile and the response profile. 
 
     
     
       5. The control system according to  claim 4 , wherein the circuitry is configured to:
 generate, based on the weights and the difference, a difference model representing a relationship between the weights and the difference; and 
 generate the second model by repeating:
 modifying the weights to reduce the difference; and 
 updating the difference model based on the weighted sum according to the modified weights and the difference calculated after modifying the weights. 
 
 
     
     
       6. The control system according to  claim 4 , wherein the circuitry is configured to:
 calculate a gain-frequency characteristic of the state of the controlled object to the command based on the command profile and the response profile; and 
 generate the first model to have the calculated gain-frequency characteristic. 
 
     
     
       7. The control system according to  claim 6 , wherein the circuitry is configured to regenerate the first model based on the command profile, the response profile, and the second model in response to determining that the difference exceeds a predetermined level. 
     
     
       8. The control system according to  claim 7 , wherein the circuitry is configured to:
 modify the gain-frequency characteristic based on the command profile, the response profile, and the second model; and 
 regenerate the first model to have the modified gain-frequency characteristic. 
 
     
     
       9. The control system according to  claim 8 , wherein the circuitry is configured to:
 calculate a response of the second model to the command profile; 
 modify the response profile by removing the calculated response of the second model to the command profile; and 
 modify the gain-frequency characteristic based on the command profile and the modified response profile. 
 
     
     
       10. The control system according to  claim 7 , wherein the circuitry is configured to regenerate the second model based on the command profile, the response profile, and the regenerated first model in response to determining that the difference calculated after the first model is regenerated exceeds the predetermined level. 
     
     
       11. The control system according to  claim 1 , wherein the circuitry is further configured to:
 generate a virtual response profile obtained by simulating, based on the command profile, the first model, and the second model, the temporal change of the state of the controlled object; 
 modify the second model to reduce a difference between the virtual response profile and the response profile; and 
 regenerate the first model based on the command profile, the response profile, and the modified second model, in response to determining that the difference calculated after the second model is modified exceeds a predetermined level. 
 
     
     
       12. The control system according to  claim 11 , wherein the circuitry is configured to generate the second model by repeating to modify the second model to make the difference lower than a predetermined second level higher than the predetermined level. 
     
     
       13. The control system according to  claim 11 , wherein the circuitry is configured to regenerate the second model based on the command profile, the response profile, and the regenerated first model in response to determining that the difference calculated after the first model is regenerated exceeds the predetermined level. 
     
     
       14. The control system according to  claim 1 , wherein the controlled object comprises a driven object and a motor that drives the driven object,
 wherein the command includes a designation of a driving force to be generated by the motor for driving the driven object, 
 wherein the state of the controlled object includes a state of the driven object that varies according to the driving force, and 
 wherein the control reference includes a designation of a target state of the driven object. 
 
     
     
       15. The control system according to  claim 14 , wherein the state of the driven object includes a speed of the driven object, and
 wherein the control reference includes a designation of a target speed of the driven object. 
 
     
     
       16. The control system according to  claim 14 , wherein the state of the controlled object includes a position of the driven object, and
 wherein the control reference includes a designation of a target position of the driven object. 
 
     
     
       17. The control system according to  claim 1 , wherein the temporal change of the command in the command profile includes an oscillation of the command. 
     
     
       18. The control system according to  claim 1 , wherein the circuitry is configured to:
 generate a first command for causing the state of the controlled object to follow the control reference based on a difference between the control reference and the state of the controlled object; 
 generate a second command for causing the state of the controlled object to follow the control reference based on the control reference and the one or more control parameters; and 
 modify the first command based on the second command to generate the modified first command as the command for causing the state of the controlled object. 
 
     
     
       19. A method comprising:
 generating, based on a command profile representing a temporal change of a command for a controlled object and a response profile representing a temporal change of a state of the controlled object responding to the command profile, a first model representing at least a part of a relation between the command and the state of the controlled object; 
 generating, based on the command profile, the response profile, and the first model, a second model representing another part of the relation that is not represented by the first model; 
 generating, based on the first model and the second model, one or more control parameters representing a relation between a control reference and the command for causing the controlled object to follow the control reference; and 
 transmitting the one or more control parameters for controlling the controlled object to cause the state of the controlled object to follow the control reference based at least in part on the control reference and the one or more control parameters. 
 
     
     
       20. A non-transitory memory device having instructions stored thereon that, in response to execution by a processing device, cause the processing device to perform operations comprising:
 generating, based on a command profile representing a temporal change of a command for a controlled object and a response profile representing a temporal change of a state of the controlled object responding to the command profile, a first model representing at least a part of a relation between the command and the state of the controlled object; 
 generating, based on the command profile, the response profile, and the first model, a second model representing another part of the relation that is not represented by the first model; 
 generating, based on the first model and the second model, one or more control parameters representing a relation between a control reference and the command for causing the controlled object to follow the control reference; and 
 transmitting the one or more control parameters for controlling the controlled object to cause the state of the controlled object to follow the control reference based at least in part on the control reference and the one or more control parameters.